Data Sheet

ManualsBrandsRoboteQ ManualsMagnetic Sensors / CompassRoboteQ MGSW1600 All-metal Shock-Resistant 160mm Wide Magnetic Track Sensor

MGSWxxxx Magnetic Sensor Datasheet 1

MGSWxxxx

The MGSWxxxx is a heavy duty sensor capable of detecting

and reporting the position of a magnetic ﬁeld along its hor-

izontal axis. The sensor is intended for line following robotic

applications, using a magnetic tape to form a track guide on

the ﬂoor.

The MGSWxxxx is built into a rugged, watertight, all-metal

enclosure. It uses a 8-pin waterproof M12-type connectors

for its power supply and IO signals.

Available in 160mm, 320mm and 480mm widths, the sensor

accurately measures its lateral distance from the center of the

track, with millimeter resolution, resulting in 160, 320 or 480

points end to end. Tape position information can be output in

numerical format on the sensor’s RS232 or USB ports. The

position is also reported as a 0 to 3V voltage output and as

a variable PWM output. Additionally, the sensor supports a

dedicated MultiPWM mode allowing seamless communication

with all Roboteq motor controllers using only one wire.

The sensor will detect and manage 2-way forks and can be

instructed to follow the left or right track using commands

issued via the serial/USB or its CAN bus interface.

In addition to detecting a track to follow, the sensor will report the

presence of magnetic markers that may be positioned on the left

or right side of the track. The sensor is equipped with four LED

indicators for easy monitoring and diagnostics.

The sensor incorporates a high performance, Basic-like scripting

language that allows users to add customized functionality to

the sensor. A PC utility is provided for conﬁguring the sensor,

capturing and plotting the sensor data on a strip chart recorder,

and visualizing in real time the magnetic ﬁeld as it is seen by the

sensor.

The sensor ﬁrmware can be updated in the ﬁeld to take advan-

tage of new features as they become available.

Applications

• Automatic Guided Vehicles

• Automated warehouses

• Automated shelves restocking system

• Material conveying robots

• Flexible assembly lines

Key Features

• Detects and measures position of magnetic track

along horizontal axis

• Optimized for use with 25mm or 50mm wide adhesive

magnetic tape

• 10mm to 60mm operating height

• 160mm, 320mm or 480mm sensing width with 1mm

resolution

• Selectable, North or South on top, magnetic polarity

of track

• 2-way fork/merge detection and management

• Detection of magnetic “markers” of inverted polarity

at left or right of main track

• Simple interface to most PLC brands and to micro-

computers

• Direct and seamless interface to Roboteq motor

controllers

• 100Hz update rate

• Status LED indicator lights for tape and marker detection

• Numerical Tape position data output on RS232 or

USB ports

• Tape position on PWM output at 250Hz or 500Hz

• Tape position on 0-3V analog output

• CAN interface up to 1Mbit/s

• CANOpen, and 3 other CAN protocol support

Rugged, Precision

Magnetic

Track Following

Sensor

Summary of content (20 pages)

PAGE 1
MGSWxxxx Rugged, Precision Magnetic Track Following Sensor The MGSWxxxx is a heavy duty sensor capable of detecting and reporting the position of a magnetic field along its horizontal axis. The sensor is intended for line following robotic applications, using a magnetic tape to form a track guide on the floor. The MGSWxxxx is built into a rugged, watertight, all-metal enclosure. It uses a 8-pin waterproof M12-type connectors for its power supply and IO signals.
PAGE 2
•• Built-in programming language for optional local processing of tape and marker data •• Easy configuration, testing and monitoring using provided PC utility. Real time visualization of the magnetic field •• Field upgradeable software for installing latest features via the Internet •• Shock resistant, all-aluminum enclosure •• Wide range 4.5V to 30V DC operation •• 166 mm, 326mm or 486mm wide x 30 mm deep x 38.5 mm tall •• -40o to +85o C operating environment •• IP65 rated enclosure.
PAGE 3
Benefits of Magnetic Line Tracking Because they are totally passive, magnetic tracks are easy to lay and modify. They are dirt immune and can be made totally invisible under carpet, tile or other non ferrous flooring cover. The table below lists the differences between the three major line following technologies used in the industry today. TABLE 1.
PAGE 4
I/O and Power Connector Power & IO Connector USB Tape Detect Right Marker Power Left Marker Right Side Relative to Forward Direction Forward Reference Direction Left Side Relative to Forward Direction FIGURE 2. Sensor Outline I/O and Power Connector The MGSWxxxx is fitted with a waterproof 8-pin M12-type male. Connector for powering the sensor and accessing all the I/O signals. The connector pins are identified in the table below. FIGURE 3. Connector Pin Locations TABLE 2.
PAGE 5
Powering the sensor Apply a 4.5V to 30V Max voltage between the ground, and the power input pins. The sensor will also be powered if it is connected to a PC via the USB connector. RS232 Connection Serial communication with the sensor is done using the RxData and TxData signals. The ground pin must be connected in order to provide a reference to the RxData and TxData signal. PWM Output The PWM Output is always active.
PAGE 6
Serial Port Settings RxData as digital input The RxData line can also be configured as a digital input in order to select which of the Left or Right tape captures must be output on the PWM and Analog wires. The configuration is done using the DIM configuration parameter. If the input is high the right track is selected, if it is low the left track is selected. CAN Low and CAN High The CAN Low and CAN High pins are used to connect the sensor to a CAN network.
PAGE 7
L=0, R=0 L=0, R=0 L=-0, R=50 L=-0, R=50 L=-0, R=20 L=-0, R=20 L=0, R=0 L=0, R=0 FIGURE 4. Fork Management When approaching merges, the sensor will report a sudden spread of the left and right tracks, but will otherwise operate the same way as at forks, as shown in Figure 5, below: L=0, R=0 L=0, R=0 L=-0, R=20 L=-0, R=20 L=-0, R=50 L=-0, R=50 L=0, R=0 FIGURE 5. Merge Management Both track positions can be read via the serial port.
PAGE 8
Marker Detection Marker Detection Markers are pieces of magnetic tape that are affixed on the left and/or right side of the main track. To differentiate them from the track, markers have opposite magnetic polarities. These markers can be used to inform the robot of special areas along the track, such as forks or merges ahead, high or low speed zones, charge stations, etc.
PAGE 9
This mode is therefore dependent on the ambient magnetic field to be quite stable throughout the path of the AGV, and that the zero level be calibrated. After calibration if no track or marker is present, the level should hover around the 0 level. It is recommended that users survey the site with the sensor around 25mm all around the projected path to verify that there is no local disturbance from metal in the floor.
PAGE 10
Diagnostic LEDs The Gyroscope values can be read via USB, Serial or CANbus. The Z sensor value is also automatically transmitted to a Roboteq motor controller, along with the magnetic sensor data, using a single wire and the MultiPWM mode. Finally angle integration is implemented out of the gyroscope data, using ANG query and command. The angle is given in degrees*10. The Gyroscope values are integers with the following range: TABLE 5.
PAGE 11
4.5V to 30V 4.5V to 30V Sensor Fork Left ForkFork RightLeft PLC Analog or PWM Fork Right Sensor PLC Analog orControllers PWM Interfacing the Sensor to Roboteq Motor The MGSW1600 will interface directly and seamlessly to all Roboteq models of controllers for brushed and brushless DC motors. The sensor can be powered from the controller’s 5V output, as shown in Figure 12, below.
PAGE 12
MicroBasic Scripting FIGURE 14. MagSensor Control Utility MicroBasic Scripting The MGSW1600 features the ability for the user to write programs that are permanently saved into, and run from the sensor’s Flash Memory. This capability is the equivalent of combining the functionality of a PLC or Single Board Computer, directly into the sensor. The language is a very simple, yet powerful one that resembles Basic. Scripts can be simple or elaborate, and can be used for various purposes.
PAGE 13
Gyroscope Zero Calibration It is normal for gyroscope that is built in the sensor to have some drift. To minimize this drift the sensor must be immobilized, then click on the “Calibrate Gyro Zero” button on the PC utility. It is recommended to calibrate the Gyroscope Zero at least once. The calibration can be done at any time as long as the sensor is not moving at all when calibrating. Calibration only needs to be done if you intend to use the Gyroscope.
PAGE 14
Command Reference Summary TABLE 6.
PAGE 15
Command Arguments Range Default Description GRNG Value 0= 250 dps, 1= 500 dps, 2= 2000 dps 0 Select Gyroscope Range MMOD Value 0=Absolute (w/ Markers), 1=Relative (w/0 Markers) 0 Tape Detection Mode PWMM Value 0 = Roboteq MultiPWM, 1= Selected Track at 250Hz, 2= Selected Track at 500Hz, 3=Tape Detection, 4=Tape & Marker Detect 0 PWM Output mode RSBR(1) Mode 0 = 115.2K 0 Set serial port bit rate 1= 57.6K 2 = 38.4K 3 = 19.
PAGE 16
Command Reference Summary USB communication Use USB only for configuration, monitoring and troubleshooting. USB is not a reliable communication method when used in electrically noisy environments. Further more, communication will not always recover after it is lost without unplugging and replugging the connector, or restarting the controller. RS232 is the preferred communication method when interfacing with a computer. USB and CAN are able to operate at the same time on the MGSW1600.
PAGE 17
TABLE 10. Index Sub (Hex) Entry Name Data Type & Access Command Name Set User Integer Variable n Set User Bool Variable n Save Config to Flash MicroBasic Run Follow Left track Follow Right track S32 WO S32 WO U8 WO U8 WO U8 WO U8 WO VAR B EESAV BRUN TX TV Runtime Commands 0x2005 0x2015 0x2017 0x2018 0x201A 0x201B 01 to 10 01 to 32 00 00 00 00 TABLE 11.
PAGE 18
Sensor Characteristics Sensor Characteristics TABLE 12. Parameter Model Min Typical Max Units Capture width MGSW1600 160 mm MGSW3200 320 mm MGSW4800 480 mm Resolution 1 1 2 mm Operating height with 25mm track 10 30 50 (1) mm Operating height with 50mm track 20 30 60 (1) mm Update rate 100 Hz Note 1: Ambient magnetic fields may impair sensor data at highest height. A greater height can be reached with doubled tape,or by using stronger magnetic material.
PAGE 19
TABLE 16. Parameter Measure point Analog Output Current Ground to Output pin PWM Frequency PWM Output PWM Duty Cycle PWM Output Min Typ Max Units 10 mA 250 (1) 500 (1) Hz 25 75 % Note 1: 250 or 500Hz user selectable Scripting TABLE 17.
PAGE 20
Electrical Characteristics FIGURE 17. MGSW3200 Dimensions FIGURE 18.